Densmore recently won a court battle over Manzarek's and Kreiger's use of the name "Doors of the 21st Century" with former Cult singer Ian Astbury handling the vocals of the late Jim Morrison.
Densmore has also allegedly blocked some lucrative advertising deals, including $15 million offered by Cadillac for "Break On Through (to the Other Side)," The Los Angeles Times reported.
"He should come and play drums with us not fight us at every turn," Manzarek said.
Densmore maintains the Doors' music is too important to be used in ad campaigns.
"People lost their virginity to this music, got high for the first time to this music," Densmore said. "I've had people say kids died in Vietnam listening to this music, other people say they know someone who didn't commit suicide because of this music."
Manzarek, however, says there is nothing wrong with lending music for tasteful advertising, pointing to recent commercials using music from Led Zeppelin and U2.
"We're all getting older," said Manzarek, 63. "We should, the three of us, be playing these songs because, hey, the end is always near. Morrison was a poet, and above all, a poet wants his words heard."